Trajectory Prediction on nuScenes 1.0 (val)
0.3427minADEMapTRv2-Centerline [18] + UATP
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| MapTRv2-Centerline [18] + UATPTrajectory Prediction Method=HiVT [1]2026.03 | 0.3427 | 0.6763 | 5.7 | — | — | |
| MapTR [17] + UATPTrajectory Prediction Method=HiVT [1]2026.03 | 0.366 | 0.7564 | 7.45 | — | — | |
| MapTRv2 [18] + UATPTrajectory Prediction Method=HiVT [1]2026.03 | 0.3697 | 0.7621 | 7.87 | — | — | |
| StreamMapNet [49] + UATPTrajectory Prediction Method=HiVT [1]2026.03 | 0.3711 | 0.7745 | 7.96 | — | — | |
| MapTRv2-Centerline + OursPrediction Method=HiVT [41], Online HD Map Method=MapTRv2-Centerline [23] + Ours2024.03 | 0.3727 | 0.7492 | 7.26 | — | — | |
| MapTRv2-Centerline [18] + [40]Trajectory Prediction Method=HiVT [1]2026.03 | 0.3727 | 0.7492 | 7.26 | — | — | |
| MapTRv2-CenterlinePrediction Method=HiVT [41], Online HD Map Method=MapTRv2-Centerline [23]2024.03 | 0.379 | 0.7822 | 8.53 | — | — | |
| MapTRv2-Centerline [18]Trajectory Prediction Method=HiVT [1]2026.03 | 0.379 | 0.7822 | 8.53 | — | — | |
| StreamMapNet + OursPrediction Method=HiVT [41], Online HD Map Method=StreamMapNet [38] + Ours2024.03 | 0.3848 | 0.7954 | 8.61 | — | — | |
| StreamMapNet [49] + [40]Trajectory Prediction Method=HiVT [1]2026.03 | 0.3848 | 0.7954 | 8.61 | — | — | |
| MapTR + OursPrediction Method=HiVT [41], Online HD Map Method=MapTR [22] + Ours2024.03 | 0.3854 | 0.7909 | 8.34 | — | — | |
| MapTR [17] + [40]Trajectory Prediction Method=HiVT [1]2026.03 | 0.3854 | 0.7909 | 8.34 | — | — | |
| MapTRv2 + OursPrediction Method=HiVT [41], Online HD Map Method=MapTRv2 [23] + Ours2024.03 | 0.393 | 0.8127 | 8.57 | — | — | |
| MapTRv2 [18] + [40]Trajectory Prediction Method=HiVT [1]2026.03 | 0.393 | 0.8127 | 8.57 | — | — | |
| StreamMapNetPrediction Method=HiVT [41], Online HD Map Method=StreamMapNet [38]2024.03 | 0.3972 | 0.8186 | 9.26 | — | — | |
| StreamMapNet [49]Trajectory Prediction Method=HiVT [1]2026.03 | 0.3972 | 0.8186 | 9.26 | — | — | |
| MapTRPrediction Method=HiVT [41], Online HD Map Method=MapTR [22]2024.03 | 0.4015 | 0.8418 | 9.81 | — | — | |
| MapTR [17]Trajectory Prediction Method=HiVT [1]2026.03 | 0.4015 | 0.8418 | 9.81 | — | — | |
| MapTRv2Prediction Method=HiVT [41], Online HD Map Method=MapTRv2 [23]2024.03 | 0.4057 | 0.8499 | 9.92 | — | — | |
| MapTRv2 [18]Trajectory Prediction Method=HiVT [1]2026.03 | 0.4057 | 0.8499 | 9.92 | — | — | |
| MapTRv2-Centerline [18] + UATPTrajectory Prediction Method=DenseTNT [2]2026.03 | 0.7419 | 1.341 | 15.06 | — | — | |
| StreamMapNet [49] + UATPTrajectory Prediction Method=DenseTNT [2]2026.03 | 0.8065 | 1.6 | 24.18 | — | — | |
| MapTRv2-Centerline + OursPrediction Method=DenseTNT [13], Online HD Map Method=MapTRv2-Centerline [23] + Ours2024.03 | 0.8135 | 1.311 | 15.93 | — | — | |
| MapTRv2-Centerline [18] + [40]Trajectory Prediction Method=DenseTNT [2]2026.03 | 0.8135 | 1.311 | 15.93 | — | — | |
| MapTRv2-CenterlinePrediction Method=DenseTNT [13], Online HD Map Method=MapTRv2-Centerline [23]2024.03 | 0.8466 | 1.345 | 15.2 | — | — | |
| MapTRv2-Centerline [18]Trajectory Prediction Method=DenseTNT [2]2026.03 | 0.8466 | 1.345 | 15.2 | — | — | |
| StreamMapNet + OursPrediction Method=DenseTNT [13], Online HD Map Method=StreamMapNet [38] + Ours2024.03 | 0.9036 | 1.645 | 23.59 | — | — | |
| StreamMapNet [49] + [40]Trajectory Prediction Method=DenseTNT [2]2026.03 | 0.9036 | 1.645 | 23.59 | — | — | |
| StreamMapNetPrediction Method=DenseTNT [13], Online HD Map Method=StreamMapNet [38]2024.03 | 0.9492 | 1.74 | 25.69 | — | — | |
| StreamMapNet [49]Trajectory Prediction Method=DenseTNT [2]2026.03 | 0.9492 | 1.74 | 25.69 | — | — | |
| MapTR [17] + UATPTrajectory Prediction Method=DenseTNT [2]2026.03 | 0.954 | 1.909 | 34.29 | — | — | |
| MapTR + OursPrediction Method=DenseTNT [13], Online HD Map Method=MapTR [22] + Ours2024.03 | 1.089 | 2.006 | 34.99 | — | — | |
| MapTR [17] + [40]Trajectory Prediction Method=DenseTNT [2]2026.03 | 1.089 | 2.006 | 34.99 | — | — | |
| MapTRPrediction Method=DenseTNT [13], Online HD Map Method=MapTR [22]2024.03 | 1.091 | 2.058 | 35.43 | — | — | |
| MapTR [17]Trajectory Prediction Method=DenseTNT [2]2026.03 | 1.091 | 2.058 | 35.43 | — | — | |
| MapTRv2 [18] + UATPTrajectory Prediction Method=DenseTNT [2]2026.03 | 1.099 | 2.235 | 42.3 | — | — | |
| MapTRv2Prediction Method=DenseTNT [13], Online HD Map Method=MapTRv2 [23]2024.03 | 1.214 | 2.312 | 41.38 | — | — | |
| MapTRv2 [18]Trajectory Prediction Method=DenseTNT [2]2026.03 | 1.214 | 2.312 | 41.38 | — | — | |
| MapTRv2 + OursPrediction Method=DenseTNT [13], Online HD Map Method=MapTRv2 [23] + Ours2024.03 | 1.262 | 2.34 | 39.12 | — | — | |
| MapTRv2 [18] + [40]Trajectory Prediction Method=DenseTNT [2]2026.03 | 1.262 | 2.34 | 39.12 | — | — | |
| AgentFormerbest-of-K=52026.05 | — | — | — | 1.86 | 3.89 | |
| AgentFormerbest-of-K=102026.05 | — | — | — | 1.45 | 2.86 | |
| AgentFormer-FLNbest-of-K=52026.05 | — | — | — | 1.83 | 3.78 | |
| AgentFormer-FLNbest-of-K=102026.05 | — | — | — | 1.32 | 2.73 | |
| Dicebest-of-K=52026.05 | — | — | — | 1.76 | 3.7 | |
| Dicebest-of-K=102026.05 | — | — | — | 1.44 | 2.67 | |
| E-V2-Netbest-of-K=52026.05 | — | — | — | 1.46 | 3.18 | |
| E-V2-Netbest-of-K=102026.05 | — | — | — | 1.15 | 2.37 | |
| Encorebest-of-K=52026.05 | — | — | — | 1.24 | 2.71 | |
| Encorebest-of-K=102026.05 | — | — | — | 0.99 | 2.02 | |
| MUSE-VAEbest-of-K=52026.05 | — | — | — | 1.38 | 2.9 | |
| MUSE-VAEbest-of-K=102026.05 | — | — | — | 1.09 | 2.1 | |
| Resonancebest-of-K=52026.05 | — | — | — | 1.26 | 2.72 | |
| Resonancebest-of-K=102026.05 | — | — | — | 1.03 | 2.12 | |
| Reverberationbest-of-K=52026.05 | — | — | — | 1.25 | 2.73 | |
| Reverberationbest-of-K=102026.05 | — | — | — | 1 | 2.03 | |
| SocialCirclebest-of-K=52026.05 | — | — | — | 1.44 | 3.1 | |
| SocialCirclebest-of-K=102026.05 | — | — | — | 1.13 | 2.3 | |
| SoperModelbest-of-K=52026.05 | — | — | — | 2.21 | 4.58 | |
| SoperModelbest-of-K=102026.05 | — | — | — | 1.79 | 3.4 | |
| Trajectron++best-of-K=52026.05 | — | — | — | 3.14 | 7.45 | |
| Trajectron++best-of-K=102026.05 | — | — | — | 2.46 | 5.65 | |
| Y-netbest-of-K=52026.05 | — | — | — | 2.46 | 5.15 | |
| Y-netbest-of-K=102026.05 | — | — | — | 1.88 | 3.47 |